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Vehicle positioning method and device

A vehicle positioning and vehicle technology, applied in the field of Internet of Vehicles, can solve the problem that the performance of vehicle positioning cannot be guaranteed

Active Publication Date: 2021-05-07
HUAWEI TECH CO LTD
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

[0004] This application provides a vehicle positioning method and device to solve the problem that the vehicle positioning performance cannot be guaranteed in the prior art

Method used

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  • Vehicle positioning method and device
  • Vehicle positioning method and device

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Embodiment Construction

[0029] In order to understand the technical solutions provided by the embodiments of the present application, first, the relevant nouns in the embodiments of the present application are explained:

[0030] 1) Operational design domain (ODD), refers to the conditions or scope of application under which the automatic driving system is designed to work, including but not limited to vehicle speed, geographical location, traffic conditions, road types, weather, time, environment, country or local traffic laws, etc. It is also commonly referred to as the operational design domain, design operational domain, and so on.

[0031] 2) Particles refer to random samples propagated in the state space, which can be used as a reference point to determine the position of the vehicle in the automatic driving system. A large number of particles can simulate the motion state and trajectory of the vehicle for particle filtering.

[0032] The technical solution of the present application will be d...

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Abstract

The invention discloses a vehicle positioning method and an apparatus. The method comprises: determining a first position of a vehicle at a first time (201); determining a first design application domain (ODD) of the vehicle at a second time (202); sampling a plurality of particles for particle filtering around the first position according to the first ODD, the number or distribution of the plurality of particles corresponding to the first ODD (203); a second location of the vehicle at a second time is determined from the plurality of particles (204). The number or distribution of the sampling particles used for positioning calculation is adaptively set through reasonable grading of ODDs, so that the particle filtering positioning efficiency is improved while the calculation resources are saved, and rapid positioning of the automatic driving vehicle is completed.

Description

technical field [0001] The present application relates to the technical field of Internet of Vehicles, in particular to a vehicle positioning method and device. Background technique [0002] In the automatic driving system, the positioning of the vehicle itself is a very important link. The current positioning method is usually based on the observation data collected by different sensors on the vehicle, using feature matching methods, particle filter algorithms, etc. to complete the vehicle positioning. The sensors on the vehicle may include, for example, a global navigation satellite system (GNSS), an inertial measurement unit (interial measurement unit, IMU), a laser detection and ranging (LiDAR), or a camera. [0003] At present, the particle filter algorithm approximates the probability density function by finding a group of random samples propagated in the state space, and replaces the integral operation with the sample mean value, thereby obtaining the minimum varianc...

Claims

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Application Information

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IPC IPC(8): G01C21/34G01S19/46G05D1/02
CPCG01C21/3415G01C21/3446G01S19/46G05D1/0214G05D1/0223
Inventor 刘建琴王兴冰陈军
Owner HUAWEI TECH CO LTD
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